CN111594142B - System and method for measuring drilling track while drilling under coal mine - Google Patents
System and method for measuring drilling track while drilling under coal mine Download PDFInfo
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Abstract
The invention discloses a coal mine underground drilling track measurement system while drilling, which comprises drilling track acquisition equipment for acquiring drilling track parameters and drilling track processing equipment in communication connection with the drilling track acquisition equipment; the drilling track processing equipment is used for receiving the drilling track parameters sent by the drilling track acquisition equipment in real time to form a drilling track curve. A method for measuring a drilling track while drilling in an underground coal mine comprises the following steps: s1, collecting an optical signal output by a fiber bragg grating representing a track parameter by using drilling track collection equipment; s2, the drilling track processing equipment receives the optical signals and converts the optical signals into digital electric signals, and the drilling track processing equipment identifies track parameters and fits the track parameters to form a drilling track curve. The method can measure the construction pore-forming track of the drilling machine in real time while drilling, has simple operation process and accurate and reliable measurement data, is beneficial to improving the pore-forming quality of the drilled hole and improving the mine disaster prevention and control capability level.
Description
Technical Field
The invention relates to the field of underground coal mine drilling, in particular to a system and a method for measuring an underground coal mine drilling track while drilling.
Background
The underground drilling construction of the coal mine is an important way and basic guarantee for gas disaster control, working face pressure relief, water drainage and geological investigation. At the present stage, most of coal mine production enterprises in China adopt a common rotary drilling machine to carry out underground drilling construction operation, measurement work of a drilling azimuth angle, an inclination angle and a drilling pore-forming track is carried out manually, the measurement work is influenced by multiple factors such as the quality level of workers, coal seam occurrence and measuring tools, the actual pore-forming track of a drilled hole has a large deviation from the designed track, safety production hidden dangers such as a gas extraction blank zone, stress concentration, water exploration and water drainage drilling failure to construct a designed area and unclear drilling exploration results are easy to exist, and further serious influence is brought to mine safety production work, and even safety accidents can occur. Therefore, the construction quality of the mine drilling is improved, the drilling and pore-forming track is accurately detected, and the method plays an important role in guaranteeing the safe and efficient production of the mine.
Therefore, in order to solve the problems, a system and a method for measuring the underground coal mine drilling track while drilling are needed, the drilling construction pore-forming track of the drilling machine can be measured in real time while drilling, the operation process is simple, the measured data is accurate and reliable, the drilling pore-forming quality is improved, the geological occurrence condition in front of an accurate exploration working surface is facilitated, and the mine disaster prevention and control capability level is improved.
Disclosure of Invention
In view of the above, the invention aims to overcome the defects in the prior art, and provides a system and a method for measuring a drilling track of a coal mine underground while drilling, which can measure the construction pore-forming track of a drilling machine in real time while drilling, have the advantages of simple operation process and accurate and reliable measurement data, are beneficial to improving the pore-forming quality of drilling, are beneficial to accurately exploring the geological occurrence condition in front of a working surface, and improve the mine disaster prevention and control capability level.
The invention discloses a coal mine underground drilling track measurement system while drilling, which comprises drilling track acquisition equipment for acquiring drilling track parameters in real time and drilling track processing equipment in communication connection with the drilling track acquisition equipment; the drilling track processing equipment is used for receiving the drilling track parameters sent by the drilling track acquisition equipment in real time to form a drilling track curve;
the drilling track acquisition equipment comprises a parameter acquisition device;
the drilling track processing equipment comprises a drilling track signal processing device and a drilling track display device which is in communication connection with the drilling track signal processing device; the drilling track signal processing device is used for receiving and analyzing the drilling track parameters sent by the parameter acquisition device in real time to obtain a drilling track digital electric signal and outputting the drilling track digital electric signal to the drilling track display device; and the drilling track display device is used for fitting the drilling track digital electric signals to form a drilling track curve and displaying the drilling track curve.
Furthermore, the parameter acquisition device comprises a flexible bearing substrate and a plurality of fiber gratings, the fiber gratings are embedded in the flexible bearing substrate and arranged between adjacent fiber gratings at equal intervals, and the flexible bearing substrate is arranged inside the drill rod.
Further, the drilling track signal processing device comprises a signal filtering and amplifying unit and a signal validity judging unit, wherein the signal filtering and amplifying unit is used for filtering and amplifying the drilling track digital electric signals, and the signal validity judging unit is used for judging whether the drilling track digital electric signals are valid or not.
Furthermore, the parameter acquisition device further comprises a flexible protection piece, wherein the flexible protection piece is embedded into the flexible bearing substrate and is used for carrying out tensile protection on the flexible bearing substrate.
Further, the flexible bearing substrate is connected with the drill rod through a connecting resistance reducing component; the connecting resistance reducing assembly comprises a first annular part, a second annular part and balls arranged between the first annular part and the second annular part; the first annular component is fixedly arranged inside the drill rod, and the second annular component is sleeved outside the flexible bearing base body.
Further, the flexible protection member is located at an axial center line of the flexible bearing substrate.
A method for measuring a drilling track while drilling in an underground coal mine comprises the following steps:
s1, controlling a drill rod to work, and collecting an optical signal output by a fiber bragg grating representing a track parameter in a drilling process of the drill rod by using a drilling track collecting device;
s2, receiving an optical signal output by the fiber bragg grating and converting the optical signal into a digital electrical signal by the drilling track processing equipment; and the drilling track processing equipment identifies track parameters according to the digital electric signals and fits the identified track parameters to form a drilling track curve.
Further, in step S2, the drilling trajectory processing device identifies trajectory parameters according to the digital electrical signal, and forms a drilling trajectory curve according to the identified trajectory parameters by fitting, specifically including:
s21, dividing the fiber bragg grating into N fiber bragg grating units;
s22, extracting fiber bragg grating characteristic parameters of each fiber bragg grating unit from the digital electric signals, wherein the fiber bragg grating characteristic parameters comprise fiber bragg grating surface strain, fiber bragg grating structure change corners and fiber bragg grating bending change deflection;
s23, calculating the bending change deflection omega(s) of the mth fiber grating unit according to the fiber grating characteristic parameters as follows:
wherein the content of the first and second substances,m =1,2, \8230, N is positive integer; s m Is the starting point of the mth fiber grating unit; s is any point between the starting point and the end point of the mth fiber grating unit; t is the thickness of the fiber grating; epsilon(s) is the surface strain of the s point of the mth fiber grating unit; theta m The structure change corner is the starting point of the mth fiber grating unit; omega m The bending change deflection of the optical fiber at the starting point of the mth optical fiber grating unit;
s24, fitting the bending change deflection of each fiber bragg grating unit to form a drilling track curve.
Further, in step S2, the method further includes determining validity of the digital electrical signal, and specifically includes:
s201, judging whether at least 2 digital electric signals exist, if so, entering the step S202, and if not, invalidating the digital electric signals and needing to acquire the optical fiber grating optical signals again;
s202, judging whether the plurality of digital electric signals are consistent, if so, enabling the digital electric signals to be effective, and if not, enabling the digital electric signals to be ineffective and needing to acquire the optical fiber grating optical signals again.
The invention has the beneficial effects that: the invention discloses a system and a method for measuring a coal mine underground drilling track while drilling, which are characterized in that a drilling track digital electric signal is obtained by collecting and analyzing a drilling track optical signal in real time, and the effectiveness of the drilling track digital electric signal is judged, so that a drilling track curve is formed and displayed; the operation process is simple, and the measured drilling track is accurate reliable, helps improving drilling pore-forming quality, does benefit to the geological occurrence condition in front of the accurate exploration working face, promotes mine calamity prevention and control ability level.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is a schematic view of a borehole trajectory measurement system of the present invention;
FIG. 2 is a schematic diagram of an in-hole device according to the present invention;
FIG. 3 is a schematic cross-sectional view of a parameter acquisition device according to the present invention;
FIG. 4 is a schematic structural diagram of a drilling trajectory signal processing device according to the present invention;
FIG. 5 is a schematic view of a drilling trajectory display device according to the present invention;
FIG. 6 is a schematic diagram of the working process of the drilling trajectory signal processing device of the present invention;
in the figure, 1 is a drilling device; 2 is a drill rod; 3 is a parameter acquisition device; 4 is connected with a resistance reducing device; 5, a drilling track signal processing device; 6 is a drilling track display device; 7 is a signal cable; 3-1 is a matrix unit; 3-2 is a drilling track measuring unit; 3-3 is a protection unit of the measuring device; 5-1 is a shell I; 5-2 is a measuring signal interaction module; 5-3 is an operation state display module; 5-4-1 is a signal interaction interface I; 5-4-2 is a signal interaction interface II; 5-5 is a handle; 5-6 are fastening bolts I; 6-1 is a shell II; 6-2 is a pore-forming track display module; 6-3 is a nameplate; 6-4 is a signal interaction interface III; 6-5 is a switch key; 6-6 are fastening bolts II.
Detailed Description
The invention is further described with reference to the accompanying drawings, in which:
the underground coal mine drilling track measurement while drilling system comprises drilling track acquisition equipment and drilling track processing equipment in communication connection with the drilling track acquisition equipment; the drilling track acquisition equipment is arranged in the drilling hole and used for acquiring and sending drilling track parameters in real time; the drilling track processing equipment is arranged outside the drill hole and used for receiving the drilling track parameters sent by the drilling track acquisition equipment in real time to form and display a drilling track curve;
the drilling track acquisition equipment comprises a drilling track acquisition device parameter acquisition device 3; the parameter acquisition device 3 is used for acquiring and transmitting drilling track parameters in real time;
the drilling track processing equipment comprises a drilling track signal processing device 5 and a drilling track display device 6 which is in communication connection with the drilling track signal processing device 5; the drilling track signal processing device 5 is used for receiving and analyzing the drilling track parameters sent by the parameter acquisition device 3 in real time to obtain a drilling track digital electric signal, and outputting the drilling track digital electric signal to the drilling track display device 6; and the drilling track display device 6 is used for fitting the drilling track digital electric signals to form a drilling track curve and displaying the drilling track curve.
The parameter acquisition device 3 and the drilling track signal processing device 5, and the drilling track signal processing device 5 and the drilling track display device 6 are communicated through cables.
In this embodiment, the parameter collecting device 3 includes a substrate unit 3-1 and a plurality of drilling track measuring units 3-2 embedded in the substrate unit 3-1.
The matrix unit 3-1 is a cylindrical structure made of high-resilience polymer rubber materials, and the deformation resilience rate of the matrix unit is not lower than 98%; the matrix unit 3-1 is used for protecting the drilling track measuring unit 3-2 and realizing free deformation of the structure during drilling while drilling, and the matrix unit 3-1 is arranged in the drill rod 2.
The drilling track measuring unit 3-2 is a fiber grating, the number of the fiber grating is 3, 3 fiber gratings are parallel to the axis of the matrix unit 3-1, and adjacent fiber gratings are arranged in the matrix unit 3-1 at equal intervals; the fiber grating has high light transmittance and high deformation rate, the diameter of the fiber core can be 55 μm, the grating interval distance of each two groups of gratings in the fiber grating is 600mm, the width of a single group of gratings is 10mm, and each group of gratings comprises 3 grating nicks.
When carrying out the drilling operation in the pit in the colliery, the front end of drilling rod is provided with the drilling and creeps into device 1, in this embodiment, drilling creeps into device 1 and scribbles the diamond compact drill bit for the geological drilling construction of diamond wear-resistant coating outward for the manganese alloy material, diamond compact drill bit belongs to prior art, and its diameter is 75mm, and the side tooth diameter is 14mm, and well tooth diameter is 12mm, and drill bit matrix bending strength is not less than 750MPa, and impact toughness is not less than 3.5J/cm 2 And the tensile strength is not lower than 600MPa.
In the embodiment, the drilling track signal processing device 5 comprises a shell I5-1, a measuring signal interaction module 5-2 arranged in the middle of the upper surface of the shell I5-1, a running state display module 5-3 arranged on the upper right of the measuring signal interaction module 5-2, a signal interaction interface I5-4-1 arranged on the right side of the shell I5-1, a signal interaction interface II 5-4-2 arranged on the lower side surface of the shell I5-1, a handle 5-5 arranged on the upper side surface of the shell I5-1, a fastening bolt I5-6 arranged on the upper surface of the shell I5-1 and a drilling track signal processing assembly arranged in the shell I5-1; the drilling track signal processing assembly comprises a light source signal coupling unit, a light source signal triggering unit, a photoelectric signal conversion unit, a signal modulation and demodulation unit, a signal filtering and amplifying unit and a signal effectiveness judging unit.
The shell I5-1 is a box-type cast iron component plated with a layer of antirust material on the outer portion and used for protecting internal devices. The measurement signal interaction module 5-2 is a capacitive touch command interaction device, and is used for artificially triggering measurement instructions such as starting to measure the drilling track, ending to measure the drilling track, and sending the measurement result of the drilling track. The operation state display module 5-3 is provided with three LED display lamp particles, whether the operation state of the drilling track signal processing device 5 is normal or not is judged by observing the colors of the LED display lamp particles, and if the LED display is green, the drilling track signal processing device 5 operates normally; if the LED displays orange, the operation of the drilling track signal processing device 5 is unstable, and a signal loss may occur; if the LED displays red, the drilling trajectory signal processing device 5 operates abnormally, and the signal processing work cannot be performed. The signal interaction interface I5-4-1 is a horn-shaped signal interaction interface and is used for transmitting instruction signals, the signal output end of the drilling track measuring unit 3-2 is connected with the signal interaction interface I5-4-1 of the drilling track signal processing device 5 through a signal cable 7, and therefore communication connection between the drilling track measuring unit 3-2 and the drilling track signal processing device 5 is achieved. And the signal interaction interface II 5-4-2 is a horn-shaped signal interaction interface and is used for transmitting instruction signals. The handles 5-5 and the fastening bolts I5-6 are all in the prior art, and are not described in detail herein.
The light source signal triggering unit is respectively in communication connection with the measurement signal interaction module 5-2 and the light source signal coupling unit. The light source signal triggering unit is an integrated circuit module I and is used for receiving and processing the drilling track measuring work instruction signal sent by the measuring signal interaction module 5-2 and sending the processed instruction signal to the light source signal coupling unit.
The light source signal coupling unit is respectively connected with the light source signal triggering unit, the parameter acquisition device 3 and the photoelectric signal conversion unit in a communication way; the light source signal coupling unit comprises a light emitting module and a light receiving module, and the light emitting module sends an optical signal containing instruction information to the parameter acquisition device 3 after receiving the instruction signal sent by the light source signal triggering unit; and the light receiving module is used for receiving the optical signal returned by the parameter acquisition device 3 and sending the optical signal to the photoelectric signal conversion unit.
The photoelectric signal conversion unit is respectively in communication connection with the light source signal coupling unit and the signal modulation and demodulation unit; the photoelectric signal conversion unit is an integrated circuit module II with a photoelectric signal conversion function and is used for receiving the optical signal sent by the light receiving module in the light source signal coupling unit, converting the optical signal into an electric signal and sending the electric signal to the signal modulation and demodulation unit.
The signal modulation and demodulation unit is respectively in communication connection with the photoelectric signal conversion unit and the signal filtering and amplifying unit; the signal modulation and demodulation unit is an integrated circuit module III with an A/D conversion function and is used for receiving the electric signal sent by the photoelectric signal conversion unit, analyzing the electric signal to obtain a digital electric signal and then sending the digital electric signal to the signal filtering and amplifying unit.
The signal filtering and amplifying unit is respectively in communication connection with the signal modulation and demodulation unit and the signal effectiveness judging unit; the signal filtering and amplifying unit comprises a signal increasing module and a signal filtering module, wherein the signal increasing module is used for receiving and amplifying the digital electric signal sent by the signal modulating and demodulating unit, avoiding measurement errors caused by weak signals and sending the amplified digital electric signal to the signal filtering module; the signal filtering module is used for receiving the amplified digital electric signals sent by the signal amplifying module, filtering the amplified digital electric signals, filtering noise data and further obtaining real and effective signals.
The signal effectiveness judging unit is an integrated circuit module IV with an effectiveness judging function and is used for receiving the signals filtered and amplified by the signal filtering and amplifying unit and judging the effectiveness of the signals filtered and amplified, and the accuracy of measured data is improved, so that misjudgment is avoided, and the mine disaster prevention and control capacity is improved.
The drilling track display device 6 comprises a shell II 6-1, a hole forming track display module 6-2 arranged in the middle of the surface of the shell II 6-1, a nameplate 6-3 arranged at the corner of the shell II 6-1, a signal interaction interface III 6-4 arranged on the side face of the shell II 6-1, a switch key 6-5 arranged at the right lower corner of the shell II 6-1 and a display driving unit arranged inside the shell II 6-1.
The shell II 6-1 is a box-type cast iron component coated with a layer of antirust material on the outer part and used for protecting internal devices; the pore-forming track display module 6-2 is an image interactive display device integrated by a plurality of light-emitting diodes and used for displaying a drilling track curve graph; the nameplate 6-3 is made of metal materials and is used for displaying information of instrument explosion prevention, manufacturing enterprises and the like; the signal interaction interface III 6-4 is a horn-shaped signal interaction interface and is used for transmitting instruction signals, and the signal interaction interface II 5-4-2 of the drilling track signal processing device 5 is connected with the signal interaction interface III 6-4 of the drilling track display device 6 through a signal cable 7, so that the communication connection between the drilling track signal processing device 5 and the drilling track display device 6 is realized. The switch key 6-5 is an integrated structure device with a power supply on/off function; the display driving unit is an integrated circuit module V with an image signal receiving and processing function and is used for displaying the drilling hole forming track information in real time.
It should be noted that, in this embodiment, the integrated circuit modules i to v all use the prior art, and are not described herein again.
In this embodiment, the parameter acquisition device further includes a measurement device protection unit 3-3, the measurement device protection unit 3-3 is embedded in the substrate unit 3-1, the measurement device protection unit 3-3 is a cylindrical flexible linear structure with high tensile strength, the diameter of the cylindrical flexible linear structure is 5mm, the tensile strength is not lower than 1000MPa, and the measurement device protection unit is used for performing tensile protection on the substrate unit 3-1 and avoiding damage to the substrate unit 3-1 and the drilling track measurement unit 3-2 structure caused by excessive tensile force. The measuring device protection unit 3-3 is located at the axial centerline of the substrate unit 3-1.
In the embodiment, the substrate unit 3-1 is connected with the drill rod through a plurality of connecting resistance reducing devices 4; the connecting resistance reducing device comprises an annular outer wall, an annular inner wall and cylindrical resistance reducing balls arranged between the annular outer wall and the annular inner wall; the annular outer wall is clamped inside the drill rod 2, and the annular inner wall is sleeved outside the matrix unit 3-1; the connecting resistance reducing device 4 is used for avoiding the matrix unit 3-1 from generating rotating distortion when drilling at high speed along with the drill rod 2, thus being beneficial to improving the accuracy of the measurement of the drilling track and further being beneficial to improving the construction quality of drilling.
The invention also discloses a method for measuring the underground coal mine drilling track while drilling, which comprises the following steps:
s1, controlling a drill rod to drill and drill, and triggering a drilling track starting instruction on a measurement signal interaction module 5-2 when the drilling construction reaches a design depth or the information of a pore-forming track in the drilling process needs to be measured; the light source triggering unit receives a drilling track starting instruction and sends the instruction to the light source signal coupling unit; after the light source signal coupling unit receives a command of starting to measure the drilling track, a light emitting module in the light source signal coupling unit starts to work, and the light emitting module sends a hole forming track measuring light signal to the parameter acquisition device 3; after the drilling and pore-forming track measurement is completed, the parameter acquisition device 3 sends a drilling track optical signal output by the fiber bragg grating for representing the track parameter to the drilling track signal processing device 5.
S2, a light receiving module of the light source signal coupling unit receives the drilling track optical signal, and the light receiving module sends the drilling track optical signal to the photoelectric signal conversion unit; the photoelectric signal conversion unit converts the drilling track optical signal sent by the light receiving module into a drilling track analog electric signal which can be transmitted and processed in the drilling track signal processing device 5;
the signal modulation and demodulation unit receives the drilling track analog electric signal transmitted by the photoelectric signal conversion unit and converts the drilling track analog electric signal into a drilling track digital electric signal; a signal filtering and amplifying unit in the drilling track signal processing device 5 performs filtering and amplifying processing on the drilling track digital electric signal, so as to obtain the drilling track digital electric signal after filtering and amplifying, and output the processed digital electric signal to a drilling track display device 6;
and the display driving unit of the drilling track display device 6 identifies track parameters of the digital electric signals, fits the identified track parameters to form a drilling track curve, and the drilling track curve is displayed by the hole forming track display module 6-2.
In this embodiment, in step S2, the display driving unit of the drilling trajectory display device 6 identifies trajectory parameters of the digital electrical signal and forms a drilling trajectory curve according to the identified trajectory parameters by fitting, which specifically includes:
s21, dividing the fiber bragg grating into N fiber bragg grating units, namely dividing the fiber bragg grating into N sections.
S22, extracting optical wavelength drift delta lambda from the digital electric signal of the drilling track r According to the propagation principle of light in the drilling track measuring unit 3-2, when the drilling track measuring light lambda emitted by the light emitting module in the light source signal coupling unit passes through the drilling track measuring unit 3-2, a coupling effect is generated, part of the drilling track measuring light lambda forms transmission light, and part of the drilling track measuring light lambda returns through the fiber bragg grating structure to form reflected light; defining the central wavelength of the reflected light (i.e. the return light) as λ r Refractive index of the optical fiber is n re And Λ is an interval of the fiber grating, and the three satisfy the following relational expression:
λ r ＝2n re Λ(1)
as can be seen from the equation (1), the center wavelength of the return light of the fiber grating depends on the refractive index n of the fiber re The refractive index n of the optical fiber changes along with the change of the interval lambada of the optical fiber grating in the process of measuring the hole forming track of the mine drilling re The drilling track measuring unit 3-2 is used for measuring the track of the drilled holeThe deformation is caused to generate bending deformation, and then the fiber grating interval lambada is changed.
Wherein the photoelastic coefficient of the drilling track measuring unit is defined as P u The elastic modulus is E, the change of the unit length stress is Delta P, and the drift amount of the returned light wave is Delta lambda r Then the following relationship exists:
meanwhile, the knowledge of elastic mechanics shows that the relationship among the stress change condition delta P, the strain change condition epsilon and the elastic modulus E of the elastic material satisfies the following conditions:
therefore, the central wavelength λ of the returning light can be passed r Amount of drift from returning light wave Delta lambda r And the strain change condition epsilon of the drilling track measuring unit 3-2 is obtained by combining the above formula (1) -formula (3), the bending strain information epsilon of the optical fiber of the drilling track measuring unit 3-2 is extracted, and the knowledge of elastic mechanics shows that if the drilling track measuring unit 3-2 is an uniform structure with uniform thickness, the relation between the surface strain change condition epsilon(s) and the bending change deflection omega(s) is satisfied:
in the formula, s is a position point on the mth section of the drilling track measuring unit 3-2, the value of s is the distance between the position of the mth section s of the drilling track measuring unit 3-2 and the initial starting point of the drilling track measuring unit 3-2, and the initial starting point of the drilling track measuring unit 3-2 is the foremost end of the drilling track measuring unit 3-2; t is the thickness of the borehole trajectory measurement unit structure, ε u For measuring the strain change of the upper surface of the mth section of the unit 3-2 d For measuring the strain change of the lower surface of the mth section 3-2 of the unitSince the drilling trajectory measuring unit 3-2 is a single-side clamped structure, if the strain changes of the upper and lower surfaces are the same, there is epsilon u ≈-ε d Then the above equation can be converted into:
suppose that the strain values of the starting point and the end point of the mth section of the 3-2 fiber grating structure of the drilling track measuring unit are respectively epsilon m 、ε m+1 And defining that the drilling track measuring unit 3-2 is linearly changed in the drilling track measuring process, and calculating the strain change of the starting point and the end point of the mth section of the fiber grating structure of the drilling track measuring unit 3-2 by linear interpolation to meet the equation:
in the formula, s m Is the distance, s, between the starting point of the mth section of the fiber grating structure of the drilling track measuring unit 3-2 and the initial starting point of the drilling track measuring unit 3-2 m+1 The distance between the end point of the fiber grating structure of the drilling track measuring unit 3-2 and the initial starting point of the drilling track measuring unit 3-2 is measured.
The change rotation angle theta of the starting position of the mth fiber grating structure of the 3-2 mth drilling track measuring unit is assumed m The parameter of the bending change flexibility omega(s) is known.
S23, obtaining a structural change rotation angle theta(s) of the drilling track measuring unit at the position of the mth section s through integral solution, wherein the structural change rotation angle theta(s) meets the equation:
the formula (5) is simplified to be carried into the formula (7) and can be obtained:
by simplifying the integration of the formula (8), ω(s) satisfies the relation:
in the process of obtaining the structural change rotation angle theta(s) of the mth section of the drilling track measuring unit 3-2, the structural change rotation angle theta(s) of the starting position of the mth section must be known m And bending change deflection omega(s), because the drilling track measuring unit 3-2 is a unilateral fixed support structure, the 1 st section of the drilling track measuring unit 3-2 has theta 1 ＝0，ω 1 If the bending change deflection omega(s) of the 1 st section of the drilling track measuring unit 3-2 is obtained by substituting the formula (9) with the value of =0, the bending change deflection omega(s) of the 1 st section of the drilling track measuring unit 3-2 can be obtained and satisfy the following conditions:
the bending deflection change condition of any position of the 1 st section of the drilling track measuring unit 3-2 can be solved by the formula (10), and the bending deflection change condition of any point of the drilling track measuring unit 3-2 can be solved by repeating the process;
and S24, the display driving unit fits the bending change deflection of each fiber bragg grating unit to form a complete drilling track curve.
In this embodiment, in step S2, the method further includes a signal validity determining unit for determining validity of the digital electrical signal of the drilling trajectory after the filtering and amplifying process, and specifically includes:
s201, firstly, judging whether at least 2 drilling track digital electric signals are received, if so, entering a step S202, and if not, enabling the drilling track digital electric signals to be invalid and needing to acquire drilling track optical signals again; in this embodiment, 3 drilling trajectory measurement units 3-2 correspond to 3 drilling trajectory digital electrical signals.
S202, judging whether the received plurality of drilling track digital electric signals are consistent, if so, enabling the drilling track digital electric signals to be effective, and if not, enabling the drilling track digital electric signals to be invalid and needing to acquire drilling track optical signals again.
Finally, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A coal mine underground drilling track measurement system while drilling is characterized in that: the drilling track processing device is in communication connection with the drilling track acquisition device; the drilling track processing equipment is used for receiving the drilling track parameters sent by the drilling track acquisition equipment in real time to form a drilling track curve;
the drilling track acquisition equipment comprises a parameter acquisition device;
the drilling track processing equipment comprises a drilling track signal processing device and a drilling track display device which is in communication connection with the drilling track signal processing device; the drilling track signal processing device is used for receiving and analyzing the drilling track parameters sent by the parameter acquisition device in real time to obtain a drilling track digital electric signal and outputting the drilling track digital electric signal to the drilling track display device; the drilling track display device fits the drilling track digital electric signals to form a drilling track curve and displays the drilling track curve;
the drilling track processing equipment identifies track parameters according to the digital electric signals and forms a drilling track curve according to the identified track parameter fitting, and the drilling track processing equipment specifically comprises the following components:
s21, dividing the fiber bragg grating into N fiber bragg grating units;
s22, extracting fiber bragg grating characteristic parameters of each fiber bragg grating unit from the digital electric signals, wherein the fiber bragg grating characteristic parameters comprise fiber bragg grating surface strain, fiber bragg grating structure change corners and fiber bragg grating bending change deflection;
s23, calculating the bending change deflection omega(s) of the mth fiber grating unit according to the fiber grating characteristic parameters as follows:
wherein m =1,2, \ 8230and N is positive integer; s is m Is the starting point of the mth fiber grating unit; s is any point between the starting point and the end point of the mth fiber grating unit; t is the thickness of the fiber grating; epsilon(s) is the surface strain of the s point of the mth fiber grating unit; theta.theta. m The structure change corner is the starting point of the mth fiber grating unit; omega m The bending change deflection of the optical fiber at the starting point of the mth optical fiber grating unit;
s24, fitting the bending change deflection of each fiber bragg grating unit to form a drilling track curve.
2. The underground coal mine drilling while drilling trajectory measurement system according to claim 1, characterized in that: the parameter acquisition device comprises a flexible bearing substrate and a plurality of fiber gratings, the fiber gratings are embedded in the flexible bearing substrate and arranged between adjacent fiber gratings at equal intervals, and the flexible bearing substrate is arranged inside the drill rod.
3. The underground coal mine drilling while drilling track measuring system according to claim 1, characterized in that: the drilling track signal processing device comprises a signal filtering and amplifying unit and a signal validity judging unit, wherein the signal filtering and amplifying unit is used for filtering and amplifying the drilling track digital electric signals, and the signal validity judging unit is used for judging whether the drilling track digital electric signals are valid or not.
4. The underground coal mine drilling while drilling trajectory measurement system according to claim 2, characterized in that: the parameter acquisition device further comprises a flexible protection piece, wherein the flexible protection piece is embedded into the flexible bearing base body and used for carrying out tensile protection on the flexible bearing base body.
5. The underground coal mine drilling while drilling trajectory measurement system according to claim 2, characterized in that: the flexible bearing substrate is connected with the drill rod through a connecting resistance reducing component; the connecting resistance reducing assembly comprises a first annular part, a second annular part and balls arranged between the first annular part and the second annular part; the first annular component is fixedly arranged inside the drill rod, and the second annular component is sleeved outside the flexible bearing base body.
6. The underground coal mine drilling while drilling track measuring system according to claim 4, characterized in that: the flexible protection member is located at an axial centerline of the flexible carrier substrate.
7. A method for measuring a coal mine underground while drilling track, which utilizes the coal mine underground while drilling track measuring system as claimed in any one of claims 1 to 6, and comprises the following steps:
s1, controlling a drill rod to work, and collecting an optical signal output by a fiber bragg grating for representing a track parameter in a drilling process of the drill rod by using a drilling track collecting device;
s2, receiving an optical signal output by the fiber bragg grating and converting the optical signal into a digital electric signal by the drilling track processing equipment; the drilling track processing equipment identifies track parameters according to the digital electric signals and fits the identified track parameters to form a drilling track curve;
in step S2, the drilling trajectory processing device identifies trajectory parameters according to the digital electrical signals, and forms a drilling trajectory curve according to the identified trajectory parameters by fitting, and specifically includes:
s21, dividing the fiber bragg grating into N fiber bragg grating units;
s22, extracting fiber bragg grating characteristic parameters of each fiber bragg grating unit from the digital electric signals, wherein the fiber bragg grating characteristic parameters comprise fiber bragg grating surface strain, fiber bragg grating structure change corners and fiber bragg grating bending change deflection;
s23, calculating the bending change deflection omega(s) of the mth fiber grating unit according to the fiber grating characteristic parameters as follows:
wherein m =1,2, \ 8230and N is positive integer; s m Is the starting point of the mth fiber grating unit; s is an arbitrary point between the starting point and the end point of the mth fiber grating unit; t is the thickness of the fiber grating; epsilon(s) is the surface strain of the s point of the mth fiber grating unit; theta m A structural change corner of the starting point of the mth fiber grating unit; omega m The bending change deflection of the optical fiber at the starting point of the mth optical fiber grating unit;
s24, fitting the bending change deflection of each fiber bragg grating unit to form a drilling track curve.
8. The method for measuring the underground coal mine drilling trajectory during drilling according to claim 7, characterized by comprising the following steps: in step S2, the method further includes determining validity of the digital electrical signal, and specifically includes:
s201, judging whether at least 2 digital electric signals exist, if so, entering the step S202, and if not, invalidating the digital electric signals and needing to acquire the optical fiber grating optical signals again;
s202, judging whether the plurality of digital electric signals are consistent, if so, enabling the digital electric signals to be effective, and if not, enabling the digital electric signals to be ineffective and needing to acquire the optical fiber grating optical signals again.
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